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Vehicle lateral stability control method based on stable region under extreme conditions

A technology of stability control and stable area, which is applied in the direction of control devices, combustion engines, internal combustion piston engines, etc., can solve problems such as failure to update, and achieve the effect of accurate vehicle lateral stability area

Active Publication Date: 2022-05-31
JILIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] 3. The fixed state constraints adopted by MPC are conservative and cannot be updated according to the real-time state of the vehicle

Method used

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  • Vehicle lateral stability control method based on stable region under extreme conditions
  • Vehicle lateral stability control method based on stable region under extreme conditions
  • Vehicle lateral stability control method based on stable region under extreme conditions

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Experimental program
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Embodiment Construction

[0038] The object of the present invention is to achieve vehicle stability control under extreme operating conditions.

[0048] 1) Establish a nonlinear vehicle lateral dynamics model describing the lateral motion of the vehicle, as shown in Figure 3.

[0049]

[0050]

[0054]

[0057]

[0058]

[0060] The relationship between the lateral force and the slip angle of different tire road friction coefficients is shown in Figure 4.

[0063]

[0065]

[0067]

[0069]

[0070] A

[0071]

[0073]

[0075] The B

[0076]

[0078]

[0079] The coefficient before the first-order term and the constant term can be expressed as:

[0080]

[0083] Calculated:

[0084]

[0087]

[0089] C

[0092]

[0093] where β is the center of mass slip angle and r is the yaw rate.

[0098]

[0101] In the present invention, the vehicle yaw rate and the center of mass slip angle reference value are determined by the current front wheel rotation angle, first of all

[0102]

[0105]

[0107]

[0109]

[0...

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Abstract

The invention discloses a vehicle lateral stability control method based on a stable area under extreme working conditions. First, identification and drawing of the vehicle lateral stability area are performed, a nonlinear model describing the vehicle lateral motion is established, and local linearization is performed. The vehicle lateral stability conditions and controllable conditions are obtained respectively, and then the vehicle lateral stability boundary and controllable boundary are obtained, and the stable area composed of the center of mass sideslip angle and yaw rate is drawn; then the vehicle reference model is established to obtain the center of mass sideslip Angular reference value and yaw angular velocity reference value, design a model predictive controller; finally, the vehicle lateral stability region is used as the state constraint of the model predictive controller to track the center of mass sideslip angle reference value and yaw angular velocity reference value output by the vehicle reference model , the output obtained by the model predictive controller is applied to the vehicle to control the stability of the vehicle, so that the vehicle can run stably and safely when it is at the adhesion limit.

Description

Vehicle lateral stability control method based on stability region under extreme conditions technical field The present invention relates to a method for carrying out lateral stability control to a vehicle based on real-time stability boundary under extreme operating conditions. method, more specifically, the present invention relates to the identification of stable boundaries of real-time changes, and with this as a constraint, a real-time-based The MPC control algorithm of the time stability boundary belongs to the technical field of vehicle safety control. Background technique With the rapid development of science and technology, automobiles have become the necessary means of transportation for people to travel, and with the large It has become a major theme of automobile development to improve the safety of vehicles during driving and reduce traffic accidents. car Under extreme working conditions, it is easy to increase the possibility of serious traffic acciden...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/02B60W50/00
CPCB60W30/02B60W50/0098B60W2050/0031B60W2050/0037Y02T10/40
Inventor 王萍张曦月丁晓东陈虹胡云峰
Owner JILIN UNIV